fsfw/monitoring/TriplexMonitor.h

#ifndef FRAMEWORK_MONITORING_TRIPLEXMONITOR_H_
#define FRAMEWORK_MONITORING_TRIPLEXMONITOR_H_

#include <framework/datapool/DataSet.h>
#include <framework/datapool/PIDReaderList.h>
#include <framework/health/HealthTableIF.h>
#include <framework/parameters/HasParametersIF.h>
#include <framework/objectmanager/ObjectManagerIF.h>


//SHOULDDO: This is by far not perfect. Could be merged with new Monitor classes. But still, it's over-engineering.
template<typename T>
class TriplexMonitor : public HasParametersIF {
public:
	static const uint8_t INTERFACE_ID = CLASS_ID::TRIPLE_REDUNDACY_CHECK;
	static const ReturnValue_t NOT_ENOUGH_SENSORS = MAKE_RETURN_CODE(1);
	static const ReturnValue_t LOWEST_VALUE_OOL = MAKE_RETURN_CODE(2);
	static const ReturnValue_t HIGHEST_VALUE_OOL = MAKE_RETURN_CODE(3);
	static const ReturnValue_t BOTH_VALUES_OOL = MAKE_RETURN_CODE(4);
	static const ReturnValue_t DUPLEX_OOL = MAKE_RETURN_CODE(5);

	static const uint8_t THREE = 3;

	TriplexMonitor(const uint32_t parameterIds[3], uint8_t domainId, const T initialLimit,
			Event eventTripleCheck, Event eventDualCheck) :
			values(parameterIds, &dataSet), limit(initialLimit), eventTripleCheck(
					eventTripleCheck), eventDualCheck(eventDualCheck), healthTable(
					NULL), domainId(domainId) {

	}
	virtual ~TriplexMonitor() {
	}
	ReturnValue_t check() {
		dataSet.read();
		//check health and validity
		uint8_t availableIndex[2] = { 0, 0 };
		bool first = true;
		uint8_t nAvailable = 0;
		for (uint8_t count = 0; count < THREE; count++) {
			if (values[count].isValid() && checkObjectHealthState(count)) {
				if (first) {
					availableIndex[0] = count;
					first = false;
				} else {
					//Might be filled twice, but then it's not needed anyway.
					availableIndex[1] = count;
				}
				nAvailable++;
			}
		}
		ReturnValue_t result = HasReturnvaluesIF::RETURN_FAILED;
		switch (nAvailable) {
		case 3:
			result = doTriplexMonitoring();
			break;
		case 2:
			result = doDuplexMonitoring(availableIndex);
			break;
		default:
			result = NOT_ENOUGH_SENSORS;
			break;
		}
		dataSet.commit();
		return result;
	}
	ReturnValue_t initialize() {
		healthTable = objectManager->get<HealthTableIF>(objects::HEALTH_TABLE);
		if (healthTable == NULL) {
			return HasReturnvaluesIF::RETURN_FAILED;
		}
		return HasReturnvaluesIF::RETURN_OK;
	}

	ReturnValue_t getParameter(uint8_t domainId, uint16_t parameterId,
				ParameterWrapper *parameterWrapper,
				const ParameterWrapper *newValues, uint16_t startAtIndex) {
		if (domainId != this->domainId) {
			return INVALID_DOMAIN_ID;
		}
		switch (parameterId) {
		case 0:
			parameterWrapper->set(limit);
			break;
		default:
			return INVALID_MATRIX_ID;
		}
		return HasReturnvaluesIF::RETURN_OK;
	}

protected:
	DataSet dataSet;
	PIDReaderList<T, THREE> values;
	T limit;
	Event eventTripleCheck;
	Event eventDualCheck;
	HealthTableIF* healthTable;
	uint8_t domainId;
	ReturnValue_t doTriplexMonitoring() {
		ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
		//Find middle value, by ordering indices
		uint8_t index[3] = { 0, 1, 2 };
		if (values[index[0]].value > values[index[1]].value) {
			std::swap(index[0], index[1]);
		}
		if (values[index[0]].value > values[index[2]].value) {
			std::swap(index[0], index[2]);
		}
		if (values[index[1]].value > values[index[2]].value) {
			std::swap(index[1], index[2]);
		}
		//Test if smallest value is out-of-limit.
		if (values[index[0]] < (values[index[1]] - limit)) {
			EventManagerIF::triggerEvent(getRefereneceObject(index[0]),
					eventTripleCheck, LOWEST_VALUE_OOL, 0);
			result = LOWEST_VALUE_OOL;
		}
		//Test if largest value is out-of-limit.
		if (values[index[2]] > (values[index[1]] + limit)) {
			EventManagerIF::triggerEvent(getRefereneceObject(index[2]),
					eventTripleCheck, HIGHEST_VALUE_OOL, 0);
			if (result == HasReturnvaluesIF::RETURN_OK) {
				result = HIGHEST_VALUE_OOL;
			} else {
				result = BOTH_VALUES_OOL;
			}
		}
		return result;
	}

	ReturnValue_t doDuplexMonitoring(uint8_t index[2]) {
		T mean = (values[index[0]] + values[index[1]]) / 2;
		if (values[index[0]] > values[index[1]]) {
			if (values[index[0]] > (mean + limit)) {
				EventManagerIF::triggerEvent(getRefereneceObject(index[0]),
						eventDualCheck, 0, 0);
				EventManagerIF::triggerEvent(getRefereneceObject(index[1]),
						eventDualCheck, 0, 0);
				return DUPLEX_OOL;
			}
		} else {
			if (values[index[1]] > (mean + limit)) {
				EventManagerIF::triggerEvent(getRefereneceObject(index[0]),
						eventDualCheck, 0, 0);
				EventManagerIF::triggerEvent(getRefereneceObject(index[1]),
						eventDualCheck, 0, 0);
				return DUPLEX_OOL;
			}
		}
		return HasReturnvaluesIF::RETURN_OK;
	}
	virtual bool checkObjectHealthState(uint8_t valueIndex) = 0;
	virtual object_id_t getRefereneceObject(uint8_t valueIndex) = 0;
};

#endif /* FRAMEWORK_MONITORING_TRIPLEXMONITOR_H_ */